#pragma once
#include "linear_system.h"
#include <iostream>
namespace LinearMpc
{
class DiscreteLinearSys : public LinearSys
{
	friend class ContinuousLinearSys;

public:
	DiscreteLinearSys(uint state_dim, uint control_dim, uint distur_dim, uint out_dim = 0);
	bool calc_steady_state_ctr(
		const Eigen::VectorXd &distur_ref, const Eigen::VectorXd &y_controlled,
		Eigen::VectorXd &steady_state, Eigen::VectorXd &steady_control);
};

} // namespace LinearMpc